System, information processing method, method of manufacturing product, and recording medium with images of object that moves relative to cameras being captured at predetermined intervals and having different image capture times

Abstract

A system includes an information processing device. The information processing device is configured to acquire an image group from each of a plurality of cameras. The image group includes a plurality of images of an object that moves relative to each of the plurality of cameras. The plurality of images are captured by a corresponding camera at predetermined intervals and having different image capture times. The information processing device is configured to calculate an amount of movement of the object relative to each of the plurality of cameras, based on the image group acquired from each of the plurality of cameras. The information processing device is configured to detect a lag between image capture timings of the plurality of cameras, by using the amount of movement of the object relative to each of the plurality of cameras.

What is claimed is: 
     
       1. A system comprising an information processing device, the information processing device being configured to:
 acquire a first image group from a first camera of a plurality of cameras, the first image group including at least three first images of an object that moves relative to the plurality of cameras, the at least three first images being captured by the first camera at predetermined intervals and having different image capture times; 
 acquire a second image group from a second camera of the plurality of cameras, the second image group including at least two second images of the object that moves relative to the plurality of cameras, the at least two second images being captured by the second camera at the predetermined intervals and having different image capture times; 
 calculate two first amounts of movement of the object between the at least three first images; 
 calculate a second amount of movement of the object between the at least two second images; and 
 detect a lag between image capture timings of the first camera and the second camera, by using a relationship between the two first amounts of movement, the second amount of movement, and the predetermined intervals. 
 
     
     
       2. A system comprising an information processing device, the information processing device being configured to:
 acquire an image group from each of a plurality of cameras, the image group including a plurality of images of an object that moves relative to each of the plurality of cameras, the plurality of images being captured by a corresponding camera at predetermined intervals and having different image capture times; 
 calculate an amount of movement of the object relative to each of the plurality of cameras, based on the image group acquired from each of the plurality of cameras; 
 detect a lag between image capture timings of the plurality of cameras, by using the amount of movement of the object relative to each of the plurality of cameras; 
 reset an image capture timing of at least one of the plurality of cameras if the lag exceeds a predetermined value; 
 acquire a new image group from each of the plurality of cameras, the new image group including a plurality of images of the object that moves relative to each of the plurality of cameras, the plurality of images being captured by a corresponding camera at the predetermined intervals and having different image capture times; 
 calculate a new amount of movement of the object relative to each of the plurality of cameras, based on the new image group acquired from each of the plurality of cameras; and 
 detect a new lag between image capture timings of the plurality of cameras, by using the new amount of movement of the object relative to each of the plurality of cameras, for causing the new lag to become equal to or smaller than the predetermined value. 
 
     
     
       3. The system according to  claim 2 , wherein the information processing device is configured to calculate the amount of movement of the object relative to each of the plurality of cameras, by using at least three images of the plurality of images of the image group acquired from each of the plurality of cameras. 
     
     
       4. A system comprising:
 an information processing device; and 
 a measurement portion configured to measure a position and a posture of an object with a corresponding time, 
 wherein the information processing device is configured to 
 (1) acquire a first image group from a first camera of a plurality of cameras, the first image group including at least two first images of the object that moves relative to the plurality of cameras, the at least two first images being captured by the first camera at predetermined intervals and having different image capture times, 
 (2) acquire a second image group from a second camera of the plurality of cameras, the second image group including at least two second images of the object that moves relative to the plurality of cameras, the at least two second images being captured by the second camera at the predetermined intervals and having different image capture times, 
 (3) calculate a first amount of movement between the at least two first images, 
 (4) calculate a second amount of movement between the at least two second images, and 
 (5) detect a lag between image capture timings of the first camera and the second camera, by using a relationship between the first amount of movement, the second amount of movement, and a measurement result obtained by the measurement portion. 
 
     
     
       5. The system according to  claim 2 , further comprising a driving device configured to support and move one of the object and the plurality of cameras. 
     
     
       6. The system according to  claim 5 , wherein the driving device is configured to move one of the object and the plurality of cameras nonlinearly with respect to another when the plurality of cameras capture images of the object. 
     
     
       7. The system according to  claim 5 , wherein the driving device comprises a robot arm and an end effector attached to the robot arm. 
     
     
       8. The system according to  claim 2 , wherein the information processing device is configured to control at least one of the plurality of cameras such that the lag between the image capture timings of the plurality of cameras is decreased. 
     
     
       9. The system according to  claim 2 , further comprising a communication interface via which the plurality of cameras and the information processing device communicate with each other. 
     
     
       10. The system according to  claim 2 , further comprising the plurality of cameras. 
     
     
       11. An information processing method performed by a processing portion that performs information processing, the method comprising:
 acquiring, by the processing portion, an image group from each of a plurality of cameras, the image group including a plurality of images of an object that moves relative to each of the plurality of cameras, the plurality of images being captured by a corresponding camera at predetermined intervals and having different image capture times; 
 calculating, by the processing portion, an amount of movement of the object relative to each of the plurality of cameras, based on the image group acquired from each of the plurality of cameras; 
 detecting, by the processing portion, a lag between image capture timings of the plurality of cameras, by using the amount of movement of the object relative to each of the plurality of cameras; 
 resetting, by the processing portion, an image capture timing of at least one of the plurality of cameras if the lag exceeds a predetermined value; 
 acquiring, by the processing portion, a new image group from each of the plurality of cameras, the new image group including a plurality of images of the object that moves relative to each of the plurality of cameras, the plurality of images being captured by a corresponding camera at the predetermined intervals and having different image capture times; 
 calculating, by the processing portion, a new amount of movement of the object relative to each of the plurality of cameras, based on the new image group acquired from each of the plurality of cameras; and 
 detecting, by the processing portion, a new lag between image capture timings of the plurality of cameras, by using the new amount of movement of the object relative to each of the plurality of cameras, for causing the new lag to become equal to or smaller than the predetermined value. 
 
     
     
       12. The information processing method according to  claim 11 , wherein the processing portion is configured to reset image capture timings of at least one of the plurality of cameras such that a lag between image capture timings of the plurality of cameras is decreased. 
     
     
       13. The information processing method according to  claim 11 , wherein the processing portion is configured to determine the amount of movement of the object relative to each of the plurality of cameras, by using at least three images of the plurality of images of the image group acquired from each of the plurality of cameras. 
     
     
       14. The information processing method according to  claim 11 , further comprising:
 measuring a position and a posture of the object relative to at least one of the plurality of cameras; and 
 associating the position and the posture of the object with a corresponding time, 
 wherein the calculating the amount of movement of the object relative to each of the plurality of cameras calculates the amount of movement of the object relative to each of the plurality of cameras by using at least two images of the plurality of images of the image group acquired from each of the plurality of cameras, and 
 wherein the detecting the lag between image capture timings of the plurality of cameras detects the lag between image capture timings of the plurality of cameras by using the amount of movement of the object relative to each of the plurality of cameras and a result of the measurement. 
 
     
     
       15. The information processing method according to  claim 11 , further comprising:
 acquiring the plurality of images from each of the plurality of cameras by causing the camera to capture images of the object at the predetermined intervals, wherein the object moves nonlinearly relative to the plurality of cameras. 
 
     
     
       16. A method of manufacturing a product, wherein the method uses a system including (a) an information processing device and (b) a driving device configured to support and move one of an object and a plurality of cameras, the driving device including (a) a robot arm and (b) an end effector attached to the robot arm,
 wherein the information processing device is configured to 
 (1) acquire an image group from each of the plurality of cameras, the image group including a plurality of images of an object that moves relative to each of the plurality of cameras, the plurality of images being captured by a corresponding camera at predetermined intervals and having different image capture times, 
 (2) calculate an amount of movement of the object relative to each of the plurality of cameras, based on the image group acquired from each of the plurality of cameras, and 
 (3) detect a lag between image capture timings of the plurality of cameras, by using the amount of movement of the object relative to each of the plurality of cameras, and 
 wherein if the lag detected is equal to or smaller than a predetermined value, the method (a) causes the plurality of cameras to capture images of a workpiece, (b) performs three-dimensional measurement on the workpiece, and (c) manufactures a product by controlling the workpiece by using the robot arm and the end effector. 
 
     
     
       17. A non-transitory computer-readable recording medium storing a program that causes a computer including the processing portion to perform the method according to  claim 11 .